Removed all code related to the intake sensor

team581 · Sep 14, 2024 · 23b2066 · 23b2066
1 parent 1a59d99
commit 23b2066
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Showing 6 changed files with 13 additions and 46 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -169,28 +169,13 @@ private void configureBindings() {
         .x()
         .onTrue(robotCommands.outtakeCommand())
         .onFalse(robotCommands.stowCommand());
-    hardware
-        .operatorController
-        .a()
-        .onTrue(robotCommands.stowCommand());
-    hardware
-        .operatorController
-        .povUp()
-        .onTrue(robotCommands.climbUpCommand());
-    hardware
-        .operatorController
-        .povDown()
-        .onTrue(robotCommands.climbDownCommand());
+    hardware.operatorController.a().onTrue(robotCommands.stowCommand());
+    hardware.operatorController.povUp().onTrue(robotCommands.climbUpCommand());
+    hardware.operatorController.povDown().onTrue(robotCommands.climbDownCommand());
     hardware
         .operatorController
         .povLeft()
         .onTrue(robotCommands.unjamCommand())
         .onFalse(robotCommands.stowCommand());
-
-
-
-
-
-
   }
 }
diff --git a/src/main/java/frc/robot/config/CompConfig.java b/src/main/java/frc/robot/config/CompConfig.java
@@ -66,7 +66,6 @@ class CompConfig {
               999,
               CANIVORE_NAME,
               999,
-              999,
               new TalonFXConfiguration()
                   .withClosedLoopRamps(CLOSED_LOOP_RAMP)
                   .withOpenLoopRamps(OPEN_LOOP_RAMP)
@@ -77,8 +76,7 @@ class CompConfig {
               centeringMotor -> {
                 centeringMotor.setSmartCurrentLimit(20);
                 centeringMotor.burnFlash();
-              },
-              new Debouncer(3.0 * 0.02)),
+              }),
           new ArmConfig(
               CANIVORE_NAME,
               999,

diff --git a/src/main/java/frc/robot/config/RobotConfig.java b/src/main/java/frc/robot/config/RobotConfig.java
@@ -39,10 +39,8 @@ public record IntakeConfig(
       int mainMotorID,
       String mainMotorCanBusName,
       int centeringMotorID,
-      int sensorID,
       TalonFXConfiguration mainMotorConfig,
-      Consumer<CANSparkMax> centeringMotorConfig,
-      Debouncer debouncer) {}
+      Consumer<CANSparkMax> centeringMotorConfig) {}
 
   public record ArmConfig(
       String canBusName,

diff --git a/src/main/java/frc/robot/intake/IntakeSubsystem.java b/src/main/java/frc/robot/intake/IntakeSubsystem.java
@@ -11,8 +11,6 @@
 public class IntakeSubsystem extends StateMachine<IntakeState> {
   private final TalonFX mainMotor;
   private final CANSparkMax centeringMotor;
-  private boolean sensorHasNote = false;
-  private boolean debouncedSensorHasNote = false;
   private final Debouncer debouncer = RobotConfig.get().intake().debouncer();
 
   public IntakeSubsystem(TalonFX mainMotor, CANSparkMax centeringMotor) {
@@ -29,20 +27,11 @@ public void setState(IntakeState newState) {
     setStateFromRequest(newState);
   }
 
-  @Override
-  protected void collectInputs() {
-    debouncedSensorHasNote = debouncer.calculate(sensorHasNote);
-  }
-
   @Override
   protected IntakeState getNextState(IntakeState currentState) {
     return currentState;
   }
 
-  public boolean hasNote() {
-    return debouncedSensorHasNote;
-  }
-
   @Override
   protected void afterTransition(IntakeState newState) {
     switch (newState) {
@@ -65,7 +54,5 @@ public void robotPeriodic() {
     DogLog.log("Intake/StatorCurrent", mainMotor.getStatorCurrent().getValueAsDouble());
     DogLog.log("Intake/SupplyCurrent", mainMotor.getSupplyCurrent().getValueAsDouble());
     DogLog.log("Intake/AppliedVoltage", mainMotor.getMotorVoltage().getValueAsDouble());
-    DogLog.log("Intake/RawSensor", sensorHasNote);
-    DogLog.log("Intake/DebouncedSensor", hasNote());
   }
 }
diff --git a/src/main/java/frc/robot/robot_manager/RobotCommands.java b/src/main/java/frc/robot/robot_manager/RobotCommands.java
@@ -89,15 +89,18 @@ public Command subwooferCommand() {
     return Commands.runOnce(robot::prepareSubwooferRequest, requirements)
         .andThen(robot.waitForState(RobotState.IDLE_NO_GP));
   }
-  public Command climbUpCommand(){
+
+  public Command climbUpCommand() {
     return Commands.runOnce(robot::nextClimbStateRequest, requirements)
         .andThen(robot.waitForState(RobotState.CLIMBING_2_HANGING));
   }
-  public Command climbDownCommand(){
+
+  public Command climbDownCommand() {
     return Commands.runOnce(robot::previousClimbStateRequest, requirements)
         .andThen(robot.waitForState(RobotState.CLIMBING_1_LINEUP));
   }
-  public Command unjamCommand(){
+
+  public Command unjamCommand() {
     return Commands.runOnce(robot::unjamRequest, requirements)
         .andThen(robot.waitForState(RobotState.IDLE_NO_GP));
   }

diff --git a/src/main/java/frc/robot/robot_manager/RobotManager.java b/src/main/java/frc/robot/robot_manager/RobotManager.java
@@ -76,7 +76,7 @@ protected RobotState getNextState(RobotState currentState) {
           shooter.atGoal() && arm.atGoal() ? RobotState.SUBWOOFER_SCORING : currentState;
       case UNJAM -> currentState;
       case INTAKING -> queuer.hasNote() ? RobotState.IDLE_WITH_GP : currentState;
-      case OUTTAKING -> queuer.hasNote() || intake.hasNote() ? currentState : RobotState.IDLE_NO_GP;
+      case OUTTAKING -> queuer.hasNote() ? currentState : RobotState.IDLE_NO_GP;
     };
   }
 
@@ -343,11 +343,7 @@ public void prepareFeedRequest() {
   public void stopShootingRequest() {
     // If we are actively taking a shot, ignore the request to avoid messing up shooting
     switch (getState()) {
-      case SPEAKER_SCORING,
-          SUBWOOFER_SCORING,
-          AMP_SCORING,
-          FEEDING_SHOOTING,
-          PASS_SHOOTING -> {}
+      case SPEAKER_SCORING, SUBWOOFER_SCORING, AMP_SCORING, FEEDING_SHOOTING, PASS_SHOOTING -> {}
       default -> setStateFromRequest(RobotState.IDLE_WITH_GP);
     }
   }